基于模糊逻辑的引信检测机械手视觉定位方法OA北大核心CSTPCD

In order to improve the quality and efficiency of fuze detection,in this paper,an automatic detection system of fuze is designed.Aiming at the problem of automatic alignment and docking between manipulator and detection device,a fuzzy logic based automatic alignment control algorithm for fuze and detection device is proposed.Taking the relative position and deviation angle of fuze and detection device as control variables,a two-dimensional fuzzy controller is designed.Through the dynamic adjustment of the controller,the optimal motion parameters can be output.Compared with the traditional fuze detection methods,the algorithm further improves the efficiency and positioning accuracy of fuze detection.The physical prototype of the automatic detection system for the whole process of fuze is developed,and the robot field operation experiment is carried out to verify the effectiveness and engineering practicability of the proposed visual positioning algorithm.